Jetson AGX Orin v4l2 cuda 视频解码

Jeston AGX Orin 读取 Gmsl 相机， 基于cuda 实现 解码 rgb 图像进行识别.

Sample：/usr/src/jetson_multimedia_api/samples/18_v4l2_camera_cuda_rgb/

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代码

• open_device

static void open_device(const char* dev_name)
{
   
    struct stat st;
    if (-1 == stat(dev_name, &st)) {
   
        fprintf(stderr, "Cannot identify '%s': %d, %s\n",
            dev_name, errno, strerror(errno));
        exit(EXIT_FAILURE);
    }

    if (!S_ISCHR(st.st_mode)) {
   
        fprintf(stderr, "%s is no device\n", dev_name);
        exit(EXIT_FAILURE);
    }

    fd = open(dev_name, O_RDWR /* required */ | O_NONBLOCK, 0);

    if (-1 == fd) {
   
        fprintf(stderr, "Cannot open '%s': %d, %s\n",
            dev_name, errno, strerror(errno));
        exit(EXIT_FAILURE);
    }
}

• init_device

static int init_device(const char* dev_name, int width, int height)
{
   
    struct v4l2_capability cap;
    struct v4l2_cropcap cropcap;
    struct v4l2_crop crop;
    struct v4l2_format fmt;
    unsigned int min;

    if (-1 == xioctl(fd, VIDIOC_QUERYCAP, &cap)) {
   
        if (EINVAL == errno) {
   
            fprintf(stderr, "%s is no V4L2 device\n", dev_name);
        }
        return -1;
    }

    if (!(cap.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
   
        fprintf(stderr, "%s is no video capture device\n",
            dev_name);
        exit(EXIT_FAILURE);
    }

    switch (io) {
   
    case IO_METHOD_READ:
        if (!(cap.capabilities & V4L2_CAP_READWRITE)) {
   
            fprintf(stderr, "%s does not support read i/o\n",
                dev_name);
            exit(EXIT_FAILURE);
        }

        break;

    case IO_METHOD_MMAP:
    case IO_METHOD_USERPTR:
        if (!(cap.capabilities & V4L2_CAP_STREAMING)) {
   
            fprintf(stderr, "%s does not support streaming i/o\n",
                dev_name);
            exit(EXIT_FAILURE);
        }

        break;
    }

    /* Select video input, video standard and tune here. */
    CLEAR(cropcap);

    cropcap.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;

    if (0 == xioctl(fd, VIDIOC_CROPCAP, &cropcap)) {
   
        crop.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
        crop.c = cropcap.defrect;